Package Summary

Tags No category tags.
Version 0.7.6
License BSD
Build type CATKIN

Repository Summary

Checkout URI
VCS Type git
VCS Version release/1.0.x
Last Updated 2020-01-15
CI status No Continuous Integration
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Bumper/cliff to pointcloud nodelet: Publish bumpers and cliff sensors events as points in a pointcloud, so navistack can use them for poor-man navigation. Implemented as a nodelet intended to run together with kobuki_node.

Additional Links


  • Jorge Santos Simon


  • Jorge Santos Simon
No README found. See repository README.

Changelog for package kobuki_bumper2pc

0.6.6 (2015-05-27)

0.6.5 (2014-11-21)

0.6.4 (2014-08-26)

0.6.3 (2014-08-25)

0.6.2 (2014-08-11)

0.6.1 (2014-08-08)

0.6.0 (2014-08-08)

  • added comments to explain about the faraway points
  • added side_point_angle param to change the angle of the bumper pointcloud\'s side points
  • Add missing run dependency on yocs_cmd_vel_mux
  • Contributors: Jorge Santos, Kaijen Hsiao

0.5.5 (2013-10-11)

0.5.4 (2013-09-06)

0.5.3 (2013-08-30)

0.5.0 (2013-08-29)

  • kobuki : Added extra url info on all packages.
  • Fix URL to the previous changelog wiki.
  • Changelogs at package level.

0.4.0 (2013-08-09)

  • Remove the dependency on pcl-ros. We compose sensor_msgs/PointCloud2 messages by hand, replacing pcl dependency by sensor_msgs one.
  • Fixed Eigenlib alignment error on 32 bit architectures.
  • Publish the pc continuously as long as bumper/cliff events are present.
  • Publish stamped pointcloud.

Previous versions, bugfixing

Available in ROS wiki:

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • launch/standalone.launch
    • Example standalone launcher for the bumper/cliff to pointcloud nodelet. Parameter pointcloud_radius gives the bumper/cliff pointcloud distance to base frame; should be something like the robot radius plus plus costmap resolution plus an extra to cope with robot inertia. This is a bit tricky parameter: if it's too low, costmap will ignore this pointcloud (the robot footprint runs over the hit obstacle), but if it's too big, hit obstacles will be mapped too far from the robot and the navigation around them will probably fail.


No message files found.


No service files found


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